public static void Display()
{
LcdConsole.Clear();
// http://stackoverflow.com/questions/105031/how-do-you-get-total-amount-of-ram-the-computer-has
// http://stackoverflow.com/questions/3896685/simplest-possible-performance-counter-example
foreach (var pcCategory in PerformanceCounterCategory.GetCategories())
{
LcdConsole.Clear();
LcdConsole.WriteLine(pcCategory.CategoryName);
int lineNum = 1;
int pageNum = 1;
foreach (var performanceCounter in pcCategory.GetCounters())
{
LcdConsole.WriteLine(performanceCounter.CounterName);
LcdConsole.WriteLine("{0}", performanceCounter.RawValue);
if ((++lineNum % 5) == 0)
{
LcdConsole.WriteLine("-----{0} page {1}", pcCategory.CategoryName, pageNum++);
EV3KeyPad.ReadKey();
}
}
LcdConsole.WriteLine("-----End of {0}", pcCategory.CategoryName);
EV3KeyPad.ReadKey();
}
}
private static void Quit_OnEnterPressed()
{
LcdConsole.Clear();
LcdConsole.WriteLine("Terminating");
// Wait a bit
Thread.Sleep(1000);
TerminateMenu();
}
public static void Main(string[] args)
{
// http://msdn.microsoft.com/en-us/library/s80a75e5%28VS.80%29.aspx
// The number of bytes that the associated process has allocated
// that cannot be shared with other processes.
Process proc = Process.GetCurrentProcess();
LcdConsole.WriteLine("PrivateMemorySize {0:N0}", proc.PrivateMemorySize64);
// http://msdn.microsoft.com/en-us/library/system.gc.gettotalmemory.aspx
// A number that is the best available approximation of the number of
// bytes currently allocated in managed memory.
LcdConsole.WriteLine("GC.GetTotalMemory {0:N0}", GC.GetTotalMemory(false));
// http://mono-project.com/Mono_Performance_Counters
//OutPerformanceCounterValue("Process", "Virtual Bytes");
//OutPerformanceCounterValue("Process", "Private Bytes");
OutPerformanceCounterValue("Mono Memory", "Total Physical Memory");
//OutPerformanceCounterValue(".NET CLR Memory", "# Bytes in all Heaps");
EV3KeyPad.ReadKey();
LcdConsole.Clear();
var MBytes = 42;
var bytes = MBytes * 1024 * 1024;
var intsize = sizeof(int);
LcdConsole.WriteLine("Allocate {0}Mb of memory.", MBytes);
LcdConsole.WriteLine("Please wait...");
tst = new int[bytes / intsize];
MBytes = 0;
for (int i = 0; i < bytes / intsize; i++)
{
tst[i] = i;
if ((i * intsize % (1024 * 1024)) == 0)
{
LcdConsole.WriteLine("{0} MBytes used", ++MBytes);
}
}
LcdConsole.WriteLine("Finished!");
LcdConsole.WriteLine("Bytes allocated: {0:N0}", GC.GetTotalMemory(false));
//EV3KeyPad.ReadKey ();
//PerformanceContersInfo.Display ();
EV3KeyPad.ReadKey();
LcdConsole.WriteLine("Memory deallocation.");
LcdConsole.WriteLine("Please wait...");
}
public CharacterDisplay(ArduinoBoard board)
{
_controller = board.CreateGpioController();
_display = new Lcd1602(8, 9, new int[] { 4, 5, 6, 7 }, -1, 1.0f, -1, _controller);
_display.BlinkingCursorVisible = false;
_display.UnderlineCursorVisible = false;
_display.Clear();
_textController = new LcdConsole(_display, "SplC780", false);
_textController.Clear();
LcdCharacterEncodingFactory f = new LcdCharacterEncodingFactory();
var cultureEncoding = f.Create(CultureInfo.CurrentCulture, "SplC780", '?', _display.NumberOfCustomCharactersSupported);
_textController.LoadEncoding(cultureEncoding);
}
public static void Main(string[] args)
{
const string to = "*****@*****.**";
const string from = "*****@*****.**";
const string password = "******";
ManualResetEvent terminateProgram = new ManualResetEvent(false);
var colorSensor = new EV3ColorSensor(SensorPort.In1);
ButtonEvents buts = new ButtonEvents();
SmtpClient smptpClient = new SmtpClient("smtp.gmail.com", 587);
smptpClient.EnableSsl = true;
smptpClient.UseDefaultCredentials = false;
smptpClient.Credentials = new NetworkCredential(from, password);
smptpClient.DeliveryMethod = SmtpDeliveryMethod.Network;
ServicePointManager.ServerCertificateValidationCallback =
delegate(object s, X509Certificate certificate, X509Chain chain, SslPolicyErrors sslPolicyErrors)
{ return(true); };
MailMessage message = new MailMessage();
message.To.Add(to);
message.From = new MailAddress(from);
message.Subject = "Color mail from my EV3";
LcdConsole.Clear();
LcdConsole.WriteLine("Use color on port1");
LcdConsole.WriteLine("Enter send mail");
LcdConsole.WriteLine("Esc. terminate");
buts.EscapePressed += () => {
terminateProgram.Set();
};
buts.EnterPressed += () => {
LcdConsole.WriteLine("Sending email");
try{
message.Body = "EV3 read color: " + colorSensor.ReadColor();
smptpClient.Send(message);
LcdConsole.WriteLine("Done sending email");
}
catch (Exception e)
{
LcdConsole.WriteLine("Failed to send email");
Console.WriteLine(e.StackTrace);
}
};
terminateProgram.WaitOne();
message = null;
}
static void Main(string[] args)
{
// for number conversion
Thread.CurrentThread.CurrentCulture = System.Globalization.CultureInfo.InvariantCulture;
Thread.CurrentThread.CurrentUICulture = System.Globalization.CultureInfo.InstalledUICulture;
ButtonEvents buttons = new ButtonEvents();
TcpListener server = null;
TcpClient client = null;
bool run = true;
buttons.EscapePressed += () =>
{
if (server != null)
{
server.Stop();
}
if (client != null)
{
client.Close();
}
run = false;
};
LcdConsole.WriteLine("EV3Scanner 3.0");
float mainRatio = 1.667f;
float secondaryRatio = 3.0f;
float handRatio = 1f;
#if DUMPLOGS
StringBuilder logs = new StringBuilder();
#endif
// stop here
if (!run)
{
return;
}
// main loop
LcdConsole.WriteLine("Starting...");
try
{
using (IRobot robot = new ScannerRobot()
{
})
{
// apply settings
robot.RatioSettings[RobotSetup.XPort] = mainRatio;
robot.RatioSettings[RobotSetup.YPort] = secondaryRatio;
robot.RatioSettings[RobotSetup.PenPort] = handRatio;
// printer
// robot.SpeedSettings[RobotSetup.XPort] = 64;
// robot.SpeedSettings[RobotSetup.YPort] = 113; // adjust Y motor speed as X motor produces almost twice as much speed (0.56)
// robot.SpeedSettings[RobotSetup.PenPort] = 127;
// scanner
robot.SpeedSettings[RobotSetup.XPort] = 16;
robot.SpeedSettings[RobotSetup.YPort] = 113; // adjust Y motor speed as X motor produces almost twice as much speed (0.56)
robot.SpeedSettings[RobotSetup.PenPort] = 127;
// calibrate robot
LcdConsole.WriteLine("Calibrating...");
robot.Calibrate(() => { return(!run); });
// Set the TcpListener on port 13000.
Int32 port = 13000;
// TcpListener server = new TcpListener(port);
server = new TcpListener(IPAddress.Any, port);
// Start listening for client requests.
server.Start();
// Buffer for reading data
Byte[] bytes = new Byte[256];
// Enter the listening loop.
while (run)
{
LcdConsole.WriteLine("Waiting for a connection... ");
// blinking green
Buttons.LedPattern(4);
// Perform a blocking call to accept requests.
// You could also user server.AcceptSocket() here.
client = server.AcceptTcpClient();
LcdConsole.WriteLine("Connected!");
// turn off
Buttons.LedPattern(0);
// Get a stream object for reading and writing
NetworkStream stream = client.GetStream();
// if robot is sending data, publish to network channel
EventHandler <DataEventArgs> dataCB = (o, e) => {
try
{
byte[] msg = System.Text.Encoding.ASCII.GetBytes(e.Data);
stream.Write(msg, 0, msg.Length);
}
catch (IOException)
{
// disconnected
robot.Off();
}
};
robot.OnData += dataCB;
#if DUMPLOGS
// DEBUG
byte[] logBuffer = Encoding.ASCII.GetBytes(logs.ToString());
client.GetStream().Write(logBuffer, 0, logBuffer.Length);
#endif
try
{
string data = null;
int read;
string message = "";
// Loop to receive all the data sent by the client.
while (run && (read = stream.Read(bytes, 0, bytes.Length)) != 0)
{
// Translate data bytes to a ASCII string.
data = System.Text.Encoding.ASCII.GetString(bytes, 0, read);
for (int i = 0; i < read; i++)
{
char c = data[i];
if (c != '\0')
{
message += c;
}
else
{
// get message type
IRobotCommand command = RobotCommandFactory.Create(message);
if (command != null)
{
robot.Queue(command);
}
//
message = "";
}
}
}
}
catch (IOException)
{
LcdConsole.Clear();
LcdConsole.WriteLine("Disconnected!");
// stop sending data
robot.OnData -= dataCB;
}
}
}
}
catch (Exception ex)
{
/*
#if DEBUG
* // Set the TcpListener on port 13000.
* int port = 13000;
*
* // TcpListener server = new TcpListener(port);
* TcpListener debugServer = new TcpListener(IPAddress.Any, port);
*
* // Start listening for client requests.
* debugServer.Start();
*
* LcdConsole.WriteLine("Wait debugger");
*
* // Perform a blocking call to accept requests.
* // You could also user server.AcceptSocket() here.
* using (TcpClient debugClient = debugServer.AcceptTcpClient())
* {
* // Get a stream object for reading and writing
* NetworkStream stream = debugClient.GetStream();
*
* foreach (String it in Assembly.GetExecutingAssembly().GetManifestResourceNames())
* {
* byte[] msg = System.Text.Encoding.ASCII.GetBytes(it + "\n");
* // Send back a response.
* stream.Write(msg, 0, msg.Length);
* }
*
* while (ex != null)
* {
* byte[] msg = System.Text.Encoding.ASCII.GetBytes(ex.Message + "\n");
* // Send back a response.
* stream.Write(msg, 0, msg.Length);
*
* msg = System.Text.Encoding.ASCII.GetBytes(ex.StackTrace + "\n");
* // Send back a response.
* stream.Write(msg, 0, msg.Length);
* ex = ex.InnerException;
* }
* }
*
* // Stop listening for new clients.
* debugServer.Stop();
#else
* throw;
#endif
*/
throw;
}
finally
{
// Stop listening for new clients.
server.Stop();
}
}
/// <summary>
/// Write stuff to the display.
/// </summary>
/// <param name="lcd">The display driver</param>
public static void WriteTest(ICharacterLcd lcd)
{
LcdConsole console = new LcdConsole(lcd, "A00", false);
console.LineFeedMode = LineWrapMode.Truncate;
Console.WriteLine("Nowrap test:");
console.Write("This is a long text that should not wrap and just extend beyond the display");
console.WriteLine("This has CRLF\r\nin it and should \r\n wrap.");
console.Write("This goes to the last line of the display");
console.WriteLine("This isn't printed, because it's off the screen");
Console.ReadLine();
Console.WriteLine("Autoscroll test:");
console.LineFeedMode = LineWrapMode.Wrap;
console.WriteLine();
console.WriteLine("Now the display should move up.");
console.WriteLine("And more up.");
for (int i = 0; i < 20; i++)
{
console.WriteLine($"This is line {i + 1}/{20}, but longer than the screen");
Thread.Sleep(10);
}
console.LineFeedMode = LineWrapMode.Wrap;
console.WriteLine("Same again, this time with full wrapping.");
for (int i = 0; i < 20; i++)
{
console.Write($"This is string {i + 1}/{20} longer than the screen");
Thread.Sleep(10);
}
Console.ReadLine();
Console.WriteLine("Intelligent wrapping test");
console.LineFeedMode = LineWrapMode.WordWrap;
console.WriteLine("Now intelligent wrapping should wrap this long sentence at word borders and ommit spaces at the start of lines.");
Console.WriteLine("Not wrappable test");
Console.ReadLine();
console.WriteLine("NowThisIsOneSentenceInOneWordThatCannotBeWrapped");
Console.ReadLine();
Console.WriteLine("Individual line test");
console.Clear();
console.LineFeedMode = LineWrapMode.Truncate;
console.ReplaceLine(0, "This is all garbage that will be replaced");
console.ReplaceLine(0, "Running clock test");
int left = console.Size.Width;
Task?alertTask = null;
// Let the current time move trought the display on line 1
while (!Console.KeyAvailable)
{
DateTime now = DateTime.Now;
String time = String.Format(CultureInfo.CurrentCulture, "{0}", now.ToLongTimeString());
string printTime = time;
if (left > 0)
{
printTime = new string(' ', left) + time;
}
else if (left < 0)
{
printTime = time.Substring(-left);
}
console.ReplaceLine(1, printTime);
left--;
// Each full minute, blink the display (but continue writing the time)
if (now.Second == 0 && alertTask == null)
{
alertTask = console.BlinkDisplayAsync(3);
}
if (alertTask != null && alertTask.IsCompleted)
{
// Ensure we catch any exceptions (there shouldn't be any...)
alertTask.Wait();
alertTask = null;
}
Thread.Sleep(500);
// Restart when the time string has left the display
if (left < -time.Length)
{
left = console.Size.Width;
}
}
alertTask?.Wait();
Console.ReadKey();
Console.WriteLine("Culture Info Test");
LcdCharacterEncoding encoding = LcdConsole.CreateEncoding(CultureInfo.CreateSpecificCulture("de-CH"), "A00", '?', 8);
console.LoadEncoding(encoding);
console.Clear();
console.ScrollUpDelay = TimeSpan.FromSeconds(1);
console.LineFeedMode = LineWrapMode.WordWrap;
console.WriteLine(@"Die Ratten im Gemäuer, englischer Originaltitel ""The Rats in the Walls"" " +
"ist eine phantastische Kurzgeschichte des amerikanischen Schriftstellers H. P. Lovecraft. Das etwa " +
"8000 Wörter umfassende Werk wurde zwischen August und September 1923 verfasst und erschien erstmals " +
"im März 1924 im Pulp-Magazin Weird Tales. Der Titel bezieht sich auf das Rascheln von Ratten in den " +
"Gemäuern des Familienanwesens, das der Erzähler Delapore nach 300 Jahren auf den Ruinen des Stammsitzes " +
"seiner Vorfahren neu errichtet hat. Im Verlauf der Erzählung führen die Ratten Delapore zur Entdeckung " +
"des grausigen Geheimnisses der Gruft seines Anwesens und der finsteren Vergangenheit seiner Familie. " +
"Nach Lovecraft entstand die Grundidee für die Geschichte, als eines späten Abends seine Tapete zu knistern begann. " +
"(von https://de.wikipedia.org/wiki/Die_Ratten_im_Gem%C3%A4uer, CC-BY-SA 3.0)");
console.WriteLine("From A00 default map: ");
console.WriteLine("Code: [{|}]^_\\");
console.WriteLine("Greek: Ωαβεπθμ");
console.WriteLine("Others: @ñ¢");
console.WriteLine("Math stuff: ∑÷×∞");
console.WriteLine("German code page");
console.WriteLine("Umlauts: äöüßÄÜÖ");
console.WriteLine("Äußerst ölige, überflüssige Ölfässer im Großhandel von Ützhausen.");
console.WriteLine("Currency: ¥€£$");
encoding = LcdConsole.CreateEncoding(CultureInfo.CreateSpecificCulture("fr-fr"), "A00", '?', 8);
console.LoadEncoding(encoding);
console.Clear();
console.WriteLine("Le français est une langue indo-européenne de la famille des langues romanes. " +
"Le français s'est formé en France. Le français est déclaré langue officielle en France en 1539. " +
"Après avoir été sous l'Ancien Régime la langue des cours royales et princières, " +
"des tsars de Russie aux rois d'Espagne et d'Angleterre en passant par les princes de l'Allemagne, " +
"il demeure une langue importante de la diplomatie internationale aux côtés de l'anglais. ");
encoding = LcdConsole.CreateEncoding(CultureInfo.CreateSpecificCulture("da-da"), "A00", '?', 8);
console.LoadEncoding(encoding);
console.Clear();
console.WriteLine("Dansk er et nordgermansk sprog af den østnordiske (kontinentale) gruppe, " +
"der tales af ca. seks millioner mennesker. Det er stærkt påvirket af plattysk. Dansk tales " +
"også i Sydslesvig (i Flensborg ca. 20 %) samt PÅ FÆRØER OG GRØNLAND.");
Console.ReadLine();
Console.WriteLine("Japanese test");
encoding = LcdConsole.CreateEncoding(CultureInfo.CreateSpecificCulture("ja-ja"), "A00", '?', 8);
console.LoadEncoding(encoding);
console.WriteLine("What about some japanese?");
console.WriteLine("イロハニホヘト");
console.WriteLine("チリヌルヲ");
console.WriteLine("ワカヨタレソ");
console.WriteLine("ツネナラム");
console.WriteLine("ウヰノオクヤマ");
console.WriteLine("ケフコエテ");
console.WriteLine("アサキユメミシ");
console.WriteLine("ヱヒモセス");
console.Clear();
console.Write("Test finished");
console.Dispose();
}
private static bool Start(Lcd lcd, Buttons btns)
{
if (taskID == taskFind)
{
t = new Find();
}
else if (taskID == taskEscape)
{
t = new Escape();
}
else
{
//unknown task ID
return(false);
}
//clear previous log messages
LcdConsole.Clear();
//set enemy color
t.enemyColor = enemyColor;
//init
int oldLog = Log.level;
Log.level = Log.LEVEL_ERROR;
lcd.Clear();
Rectangle textRect = new Rectangle(new Point(0, Lcd.Height - (int)font.maxHeight - 2), new Point(Lcd.Width, Lcd.Height - 2));
lcd.WriteTextBox(font, textRect, "initializing...", true, Lcd.Alignment.Center);
lcd.Update();
t.Init();
InfoDialog InitFinishedDialog = new InfoDialog(font, lcd, btns, "Press ENTER to start", true, "Init finished");
InitFinishedDialog.Show();
Log.level = oldLog;
running = true;
ButtonEvents be = new ButtonEvents();
be.EscapePressed += Stop;
try {
t.Start();
}
catch (Exception e) {
InfoDialog dialog = new InfoDialog(font, lcd, btns, e + " Exception caught.", true, "Init finished");
dialog.Show();
return(false);
}
//wait for task to finish
while (running)
{
Thread.Sleep(50);
}
be.EscapePressed -= delegate() {
t.Stop();
running = false;
};
//unregister event
be.EscapePressed -= Stop;
//let the GC free the memory
t = null;
return(true);
}
public void Do(IRobot robot)
{
LcdConsole.Clear();
}
/// <summary>
/// Starts the SuperCar
/// </summary>
public void Start()
{
// Program stop event
ManualResetEvent terminateProgram = new ManualResetEvent(false);
// Welcome messages
LcdConsole.WriteLine("SuperCar running");
LcdConsole.WriteLine("Enter to start");
LcdConsole.WriteLine("Left to steer left");
LcdConsole.WriteLine("Right to steer right");
LcdConsole.WriteLine("Esc to terminate");
// Button events
ButtonEvents buts = new ButtonEvents();
// Enter button
buts.EnterPressed += () =>
{
LcdConsole.WriteLine("Application Started");
sensorUpdateThread.Start();
steerPID.Start();
driveThread.Start();
lCDThread.Start();
};
// Right button
buts.RightPressed += () =>
{
};
// Left button
buts.LeftPressed += () =>
{
};
// Escape button
buts.EscapePressed += () =>
{
Lcd.Clear();
LcdConsole.Clear();
LcdConsole.WriteLine("Application Terminating...");
// Termina il thread di aggiornamento dei sensori
stopSensorUpdate.Set();
if (sensorUpdateThread.IsAlive)
{
// Ne attende la terminazione se è vivo
sensorUpdateThread.Join();
}
LcdConsole.WriteLine("Sensors update thread terminated.");
// Termina il thread di sterzata
steerPID.Stop();
LcdConsole.WriteLine("Steer thread terminated.");
// Termina il thread di guida
stopDrive.Set();
if (driveThread.IsAlive)
{
// Ne attende la terminazione se è vivo
driveThread.Join();
}
LcdConsole.WriteLine("Drive thread thread terminated.");
// Termina il Thread di update del LCD
stopLCDThread.Set();
if (lCDThread.IsAlive)
{
// Ne attende la terminazione
lCDThread.Join();
}
LcdConsole.WriteLine("LCD thread thread terminated.");
LcdConsole.WriteLine("Application terminated.");
// Spegne tutti i motori
leftEngine.Off();
rightEngine.Off();
steerWheel.Off();
// Aspetta un pochino
Thread.Sleep(1000);
// E termina
terminateProgram.Set();
};
terminateProgram.WaitOne();
}